Sam ~ There are equivalent. Here are a couple of sentences:

In both sentences, he is pulling over/off in order to do something, and the fact that he is driving is assumed by the rest of the sentence. It's not necessary to specify "pull over the car" or "pull the car off the road," in the sentences above, but it is necessary if that's the point of the sentence, for example:

Pull off means succeeding at something. While, pull over means stop.

Thanks a lot!